Driving Wheel Torque Research Articles

Reducing Operation Emissions and Improving Work Efficiency Using a Pure Electric Wheel Drive Tractor

In response to the problems of excessive greenhouse-gas and particulate emissions and the low traction efficiency of conventional diesel tractors in the field, a purely electric wheel-side drive tractor was studied, including an electric motor drive system, a battery ballast system, and an electro–hydraulic suspension system. This paper develops a dynamics model of an electric tractor-ploughing unit under complex soil conditions, leading to the proposal of an active control method for drive wheel torque and a joint control method for the traction force of the suspension system and the front- and rear-axle loads of a tractor. Finally, the tractor is prototyped and assembled, and ploughing tests are carried out. The ploughing results show that the active torque-distribution control method proposed in this study reduces the tractor slip by 14.83% and increases the traction efficiency by 10.28% compared with the average torque-distribution mode. Compared with the conventional traction control mode, the joint control method for traction and ballast proposed in this paper results in a 3.7% increase in traction efficiency, a 15.05% decrease in slip, and a 4.9% reduction in total drive motor energy consumption. This study will help to improve the operation quality and traction efficiency of electric tractors in complex soil conditions.

Motor Torque Distribution Strategy for Different Tillage Modes of Agricultural Electric Tractors

Aiming at the existing single-motor agricultural tractors, which often have a mismatch between power and working conditions and a poor operation effect under different tillage modes, this paper designs a torque allocation strategy for agricultural electric tractors under different tillage modes. Firstly, the torque is divided into basic and compensating, and a calculation model is established. Then, the Particle Swarm Optimization algorithm is used to find the optimal demand torque position, and fuzzy control rules allocate the motor torque in combination with the battery SOC. Finally, the strategy’s effectiveness in different tillage modes is verified by MATLAB/Simulink simulation and bench test. The test results show that the strategy can distribute the motor torque stably according to the load torque change and pedal opening under three PTO transitions and the plowing and rotary tillage modes. The main and speed control motors respond in about 3 s with good real-time performance. The drive wheel torque can reach 1600 N·m during plowing and rotating operation. The PTO torque can reach 60 N·m during the rotating process. The maximum torque of the output shaft can reach 150 N·m with good plowing performance. During all operations, the SOC of the battery shows a steady linear decrease, and the battery discharge has stability.

Analysis of suitable of traction model for sandy clay loam soils on farm use of tractor

A mechatronic-based embedded system was used to measure and display the dynamic wheel axle torque and tractive force of different tractor-implement combinations. It included a special transducer to measure drive wheel torque of a tractor, and an embedded telemetry digital system to receive, process and record the data in SD card module. The observed dynamic wheel axle torque under various tillage operations using different implements were compared with the theoretical values using traction models of Brixius (1987), Wismer and Luth (1973) and Tiwari (2006) to find the model suitable for sandy clay loam soils. The results were compared using the gross traction ratio and motion resistance ratio. Maximum variation of (+ ) 35% was observed between the developed system and the theoretical calculated values using Brixius (1987) and Wismer and Luth (1973) models, while Tiwari (2006) model had maximum variation of (+ ) 14 per cent. Fig. Conceptual Layout for Identification of Best Fit traction Model. • A special transducer is developed to sense the dynamic wheel axle torque of tractor. • An embedded system is developed for signal processing and logging the data. • Systems were validated and compared with the most popular traction models. • Best suitable traction prediction model is presented. • Helps the tillage researchers for analyzing the energy demand of tractor-implement.

A Virtual Driveline Concept to Maximize Mobility Performance of Autonomous Electric Vehicles

<div class="section abstract"><div class="htmlview paragraph">In-wheel electric motors open up new prospects to radically enhance the mobility of autonomous electric vehicles with four or more driving wheels. The flexibility and agility of delivering torque individually to each wheel can allow significant mobility improvements, agile maneuvers, maintaining stability, and increased energy efficiency. However, the fact that individual wheels are not connected mechanically by a driveline system does not mean their drives do not impact each other. With individual torques, the wheels will have different longitudinal forces and tire slippages. Thus, the absence of driveline systems physically connecting the wheels requires new approaches to coordinate torque distribution. This paper solves two technical problems. First, a virtual driveline system (VDS) is proposed to emulate a mechanical driveline system virtually connecting the e-motor driveshafts, providing coordinated driving wheel torque management. The VDS simulates power split between driving wheels. Conceptually, VDS is founded on generalized tire and vehicle parameters. Generalized slippages are utilized to determine virtual gear ratios from a virtual transfer case to each wheel. The virtual gear ratios serve as signals to the electric motors. Secondly, a new velocity-based mobility performance index is used as the ratio of the actual velocity of a vehicle, with individual wheel management, to the theoretical velocity of the same vehicle equipped with a mechanical driveline without controllable gear ratios. Using the index as the objective function, a maximization problem of vehicle mobility is formulated and solved. Optimal virtual gear ratios are determined for maximal mobility in a given terrain condition. Simulations of a 4x4 tactical vehicle in stochastic soil conditions demonstrated a 17% increase in mean values of the velocity-based mobility performance index when the vehicle is electrically driven by the optimal virtual gear ratios as compared to the mechanical driveline system with non-controlled differentials.</div></div>

Integrated vehicle control through the coordination of longitudinal/lateral and vertical dynamics controllers: Flatness and LPV/‐based design

SummaryThis paper deals with global chassis control of automotive vehicles. It focuses on the coordination of suspension and steering/braking vehicle controllers based on the interaction between the vertical and lateral behaviors of the vehicle. It is shown that the lateral acceleration and resulting roll motion of the car generate load transfers that considerably affect vehicle stability. A control law is designed in hierarchical way to improve the overall dynamics of the vehicle and cope with coupled driving maneuvers like obstacle avoidance using steering control and stop‐and‐go control using braking or driving wheel torque. This global control strategy includes two types of controllers. The first one is the longitudinal/lateral nonlinear flatness controller. Based on an appropriate choice of flat outputs, the flatness proof of a 3 DOF two‐wheel nonlinear vehicle model is established. Then, the combined longitudinal and lateral vehicle control is designed using algebraic estimation techniques to provide an accurate estimation of the derivatives and filtering of the reference flat outputs. The second part of the proposed strategy consists of a linear parameter‐varying/ suspension controller. This controller uses lateral acceleration as a varying parameter to account for load transfers that directly affect the suspension system. The coordination between the vehicle vertical and lateral dynamics is highlighted in this study, and the linear parameter‐varying/ framework ensures a specific collaborative coordination between the suspension and the steering/braking controllers, to achieve the desired performance. Simulations on a complex full vehicle model have been validated using experimental data obtained on‐board a real Renault Mégane Coupé. Copyright © 2017 John Wiley & Sons, Ltd.

Embedded digital drive wheel torque indicator for agricultural 2WD tractors

A microcontroller based embedded system was developed to measure and display the dynamic wheel axle torque and drawbar power of agricultural tractor for tillage research. The device includes a special transducer to measure dynamic drive wheel torque of tractor, an embedded wireless digital system to receive process and display data digitally as well as record in SD card module near the dash board of the tractor. The embedded system mainly consists of an amplifier to amplify the transducer signal, a transmitter unit to process the amplifier data, and a receiver unit to receive and display the transmitter unit data. The developed system was rigorously tested under laboratory and actual field conditions. It was found that, a maximum variation of ±320Nm torque between the theoretically calculated and experimentally observed values under field conditions. With the developed devices the real time power requirement of various agricultural operations could be known to help the tillage researchers. The developed device and systems are simple and accurate and can be used for any range of agricultural tractors.

Study on Electronic Differential Control for a Mini Electric Vehicle with Dual In-Wheel-Motor Rear Drive

An electronic differential control system (EDS) has been designed based on a mini electric vehicle (EV) with dual in-wheel-motor rear drive. In view of imperfection of current strategy with speed and moment as control variables, a new control strategy for EDS in a two in-wheel-motor drive EV is proposed with the moment of driving wheel torque as control variable and the slip rate equilibrium of two driving wheels as control objective, considering the effects of axle load transfer. The differential control experiments are conducted with steering mode and straight acceleration mode based on the vehicle prototype. The results show that the control strategy is reasonable, and the controller can effectively realize EV electronic differential by coordinating the moment of two driving wheels.

Dynamic Analysis for Articulated-Tracked Robot Climbing Stairs

Climbing stairs is one of the important functions of the articulated-tracked robot obstacle, the robot can be improved through the complex terrain capability. The robot is conducted action planning for climbing stair. Action planning of the robot, speed and acceleration of position change of the robot's center of mass, moment of inertia of driving wheels and arm wheels for influence of the robot dynamic feature are considered, complex dynamic models of the robot to climb stairs are built. The relationships of driving wheel torque, arm wheel torque and its different speed, acceleration, staircases height, angle of the robot and the stairs are analyzed by simulations, maximum driving torques of driving wheel and arm wheel are obtained in the process of robot climbing stairs, a theoretical basis for articulated-tracked robot selecting the appropriate driving torque and motion control are provided.

Study of Acceleration Slip Regulation Strategy for Four Wheel Drive Hybrid Electric Car

The use of multiple power sources not only increases the modulation means of driving wheel torque,but also brings a new challenge to the acceleration slip regulation(ASR) realized by relying on conventional anti-lock braking system(ABS).Aiming at four wheel drive hybrid electric car,a powertrain forward simulation model is built with consideration of the nonlinear seven degree-of-freedom vehicle longitudinal dynamics.Using the electric motor characterized by the accurate control and rapid response of torque to adjust the torque of slipping wheel,and based on the existing energy management strategy validated in the real vehicle,ASR control algorithms of logic threshold and P-Fuzzy-PI having the qualities of multi-mode and time-sharing are respectively developed,offline simulation is conducted under the two running cases of pure electric launching and hybrid propulsion emergence acceleration at the low adhesion coefficient road.Afterwards,front wheel speed sensor signals are acquired by the hybrid control unit(HCU)and ASR is integrated into HCU,real vehicle anti-slip test is performed on the snow/ice road.Simulation and test results indicate that the proposed two kinds of anti-slip strategies can effectively prohibit the driven wheel from transient slipping,so the scheme that ASR strategy can be integrated into the energy management strategy and be carried out in the HCU is feasible and effective.

Evaluation and discussion of disturbance observer‐based anti‐slip/skip readhesion control for electric train

AbstractThe improvement of adhesion characteristics is very important for electric trains. The drive system of electric trains must have fine anti‐slip and anti‐skid readhesion controls. In order to achieve the required adhesion, we have already proposed an anti‐slip/skid readhesion control system based on disturbance observer and sensorless vector control. Moreover, we have already applied the proposed method to actual electric multiple unit trains Series 205‐5000. In this paper, using the experimental results of Series 205‐5000 and the numerical simulation results, we evaluate the proposed anti‐slip/skid readhesion control system and confirm that the system has the desired driving wheel torque response. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 169(4): 55–64, 2009; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20834

Mapping system for tractor-implement performance

A novel data acquisition and differential global positioning system has been successfully integrated on-board a Massey Ferguson 3060 agricultural tractor for mapping tractor-implement performance with its geographical location. Both commercial and specially developed transducers were incorporated into the system for the needed tractor-implement performance measurements. Transducers were developed to measure drawbar pull at the tractor drawbar point, wheel torques and theoretical speeds at both tractor rear drive wheels, PTO torque at the tractor PTO output, forces at the tractor three-point linkages, and tillage depth at the tractor rockshaft. This complete and integrated system is capable of measuring, displaying and recording in real-time among others, tractor's theoretical travel speed, actual travel speed, fuel consumption rate, rear drive wheel slippage, rear drive wheel torque, pitch and row angles, and also implement's PTO torque, drawbar force, three-point hitch forces, and tillage depth. With the added differential Global Position System (DGPS) option, the system could be used for spatial mapping of the tractor-implement field performances. Under such configuration, the complete system is capable of measuring, displaying, and recording in real-time tractor-implement's geo-position in the field with respect to its measured performance. Static calibration tests on various associated transducers for the required measurements showed excellent linearity with correlation coefficients that are closed to 1. The developed system has been extensively and successfully field demonstrated for spatial mapping of tractor-implement field performance with a mounted disk plow on Serdang Series sandy clay loam soil.

Antislip Readhesion Control Based on Speed-Sensorless Vector Control and Disturbance Observer for Electric Commuter Train—Series 205-5000 of the East Japan Railway Company

The improvement of adhesion characteristics is important in electric commuter train. The electric commuter train has both a slip phenomenon and a slide phenomenon. Slip-and-slide phenomena degrade the comfortable riding performance of electric commuter train. We have already proposed an antislip/ antislide readhesion control system based on disturbance observer and sensorless vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the tested bogie system of electric commuter train. Then, we apply the proposed method to the actual electric commuter train of series 205-5000 of the East Japan Railway Company. In the experimental results of series 205-5000, this paper demonstrates that the proposed antislip/slide readhesion control system has the desired driving wheel torque response. Moreover, this paper discusses the evaluation method of readhesion control test results.

電気車の外乱オブザーバを用いた空転滑走再粘着制御の評価と考察

The improvement of adhesion characteristics is very important for electric train. The driving system of electric train is requested to have a fine anti-slip and anti-skid re-adhesion control system. In order to overcome this problem, we have already proposed anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. Moreover, we have already applied the proposed method to the actual electric multiple units, which is Series 205-5000. In the experimental results of Series 205-5000 and the numerical simulation results, this paper evaluates and discusses that the proposed anti-slip/skid re-adhesion control system has the desired driving wheel torque response.

電空協調制御を考慮した滑走再粘着制御への外乱オブザーバによる再粘着制御系の応用

We have already proposed the anti-slip re-adhesion control based on disturbance observer and sensor-less vector control at acceleration mode. This paper proposes a new anti-skid re-adhesion control based on disturbance observer at braking mode. The numerical simulation and experimental results point out that the proposed anti-skid re-adhesion control system has the desired driving wheel torque response for the tested bogie system of electric train.An actual train uses both electric brake and air brake in the high-speed range. Hence, this paper proposes a new anti-skid re-adhesion control considering the air brake, which carries out the cooperation control of electric brake and air brake in order to realize a fine re-adhesion control. The numerical simulation results point out that the proposed system has the desired driving wheel torque response and a fine anti-skid re-adhesion control.

速度センサレスベクトル制御·外乱オブザーバによる空転再粘着制御の実車両への適用とその評価<br>-205系5000番代電車における実例-

The improvement of adhesion characteristics is important in electric motor coach. We have already proposed the anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the tested bogie system of electric motor coach.Then, we apply the proposed method to the actual electric multiple units, which is Series 205-5000. In the experimental results of Series 205-5000, this paper discusses that the proposed anti-slip/skid re-adhesion control system has the desired driving wheel torque response. Moreover, this paper proposes the evaluation method of re-adhesion control test results.

Anti-Slip Re-adhesion Control of Electric Motor Coach (2M1C) Based on Disturbance Observer and Speed Sensor-less Vector Control

When the adhesion force coefficient between rail and driving wheel decreases, the electric motor coach has slip phenomena. We have already proposed the anti-slip re-adhesion control system based on disturbance observer. This system has the fine torque response for one driving wheel driven by one inverter-fed induction motor. However, the bogie of electric motor coach has four driving wheels driven two induction motors, which are, in some cases, driven by one inverter. In order to realize the anti-slip re-adhesion control system for the bogie of electric motor coach, this paper proposes a new anti-slip re-adhesion control based on disturbance observer and speed sensor-less vector control. The numerical simulation and experimental results point out that the proposed anti-slip re-adhesion control system has the desired driving wheel torque response for the tested bogie system of electric motor coach.

An Approach of Anti-slip Readhesion Control of Electric Motor Coach Based on First Order Disturbance Observer

In electric motor coaches, when the adhesion force coefficient between rail and driving wheel decreases suddenly, the electric motor coach has slip phenomena. We have already proposed the anti-slip control system based on ordinary disturbance observer. In order to realize the more stable anti-slip readhesion control in case of large variation of adhesion force coefficient, this paper proposes a new anti-slip readhesion control based on first order disturbance observer and new torque function. In the numerical simulation results in this paper, the proposed anti-slip readhesion control well regulates the driving wheel torque of electric motor coach stably.

Anti-Slip Control of Electric Motor Coach Using Adhesion Force Coefficient Estimator Based on Disturbance Observer

In electric motor coaches, when the adhesion force coefficient between rail and driving wheel decreases suddenly, the electric motor coach has a slip phenomena. This paper proposes a new estimation method of the adhesion force coefficient, which is based on disturbance observer. Moreover, the proposed adhesion force coefficient estimation system is applied to a new anti-slip control method in this paper. In the numerical simulation results in this paper, the proposed anti-slip control method well regulates the driving wheel torque of electric motor coach and keeps the maximum value of adhesion force coefficient curve.

An Empirical Equation for Predicting Tractive Performance of Log-Skidder Tires

ABSTRACT TRACTION equations for pneumatic log-skidder tires operating on cohesive-frictional soils were derived from laboratory tests. Driving wheel torque, motion resistance, and net traction are predicted as a function of dynamic load, travel reduction, cone index, tire size, and rated load. The equations can be substituted for the present traction calculations in log-skidder simulation programs..

An instrumented tractor for use in motion behaviour studies on sloping ground

Sloping ground affects the motion behaviour of tractors and implements. A tractor has been provided with instruments with which to measure the effects of slope on drive wheel torque, weight transfer and directional attitude. The instruments are described and reasons for their adoption given. The digital filtering of data to discriminate the effects of slope from those of ground roughness is noted.